Department of Electrical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran.
ISA Trans. 2012 Jan;51(1):74-80. doi: 10.1016/j.isatra.2011.07.005. Epub 2011 Aug 20.
This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts.
本文提出了一种新的非线性主从机器人系统的遥操作控制器，该系统在通信信道中存在恒定的时间延迟。所提出的控制器使遥操作系统能够补偿人和环境的干扰，同时实现主从位置在自由运动和接触情况下的协调。目前的工作基本上是在 Lee 和 Spong（2006）[14]的早期工作的基础上扩展基于被动性的架构，以提高在干扰和环境接触情况下的位置跟踪和透明度。所提出的控制器在每一侧使用 PID 控制器来克服 PD 控制器的一些限制，并保证改进的性能。此外，通过在频域中使用傅里叶变换和 Parseval 恒等式，我们证明了这个新的 PID 控制器保持了系统的被动性。仿真和半实验结果表明，PID 控制器在从机/环境接触中的跟踪性能优于 PD 控制器的跟踪性能。
